Robot system and control method of the same

Abstract

A robot system includes: a robot including an end effector connected to an arm thereof; a vision sensor mounted to the robot; and a controller configured to output an operation signal that enables the robot to operate when an input is generated through a touch screen. Each of an object and a target to which the object is placed is inputted through the touch screen. The touch screen displays a recommendation region of the target in a distinguished manner.

What is claimed is: 
     
       1. A robot system comprising:
 a robot comprising an end effector connected to an arm thereof; 
 a vision sensor mounted to the robot; and 
 a controller configured to output an operation signal that enables the robot to operate when an input is generated through a touch screen, 
 wherein each of an object and a target to which the object is placed is inputted through the touch screen, and 
 the touch screen displays a recommendation region of the target in a distinguished manner, 
 wherein the touch screen displays a region of the target, which has an area greater than a projected area of the object, as the recommendation region, and 
 wherein when the recommendation region has an area greater than the projected area of the object, the touch screen zooms-in and displays the recommendation region. 
 
     
     
       2. The robot system of  claim 1 , wherein the touch screen displays a non-recommendation region of the target in a different manner from the recommendation region. 
     
     
       3. The robot system of  claim 1 , wherein when the vision sensor photographs a plurality of objects, which overlap each other, the touch screen displays an image in which the plurality of objects are spaced apart from each other. 
     
     
       4. The robot system of  claim 3 , wherein when an object of the plurality of objects is inputted through the touch screen, the touch screen displays a plurality of menu items, and the plurality of menu items comprise a pick menu item. 
     
     
       5. The robot system of  claim 1 , wherein when the vision sensor photographs a plurality of targets, which overlap each other, the touch screen displays an image in which the plurality of targets are spaced apart from each other. 
     
     
       6. The robot system of  claim 5 , wherein when a target of the plurality of targets, to which the object is placed, is inputted through the touch screen, the touch screen displays a plurality of menu items, and the plurality of menu items comprise a place menu item. 
     
     
       7. The robot system of  claim 1 , wherein the touch screen displays a region of the target, which has an inclination less than a set inclination, as the recommendation region. 
     
     
       8. The robot system of  claim 1 , wherein the touch screen displays a region of the target, which has a friction coefficient greater than a set friction coefficient, as the recommendation region. 
     
     
       9. The robot system of  claim 1 , wherein the touch screen displays a plurality of recommendation regions in a different manner. 
     
     
       10. A control method of a robot system comprising: a robot comprising an end effector connected to an arm; a vision sensor mounted to the robot; and a controller configured to output an operation signal that enables the robot to operate when an input is generated through a touch screen, the control method comprising:
 displaying an object, which moves the vision sensor for searching the object and displays an image obtained by photographing the object by the vision sensor on the touch screen; 
 displaying a pick menu, which displays a pick menu on the touch screen when the object displayed through the touch screen is inputted; 
 displaying a target, which moves the vision sensor for searching the target and displays the image obtained by photographing the target by the vision sensor after the pick menu item is inputted through the touch screen; 
 displaying a place menu item, which displays a place menu item on the touch screen when the target displayed through the touch screen is inputted; 
 recommending, which displays a recommendation region of the target in a distinguished manner on the touch screen after the place menu item displayed through the touch screen is inputted; and 
 operating the robot, which operates the robot to move the object to the recommendation region when the recommendation region of a whole region of the touch screen is inputted, 
 wherein in the recommending, the touch screen displays a region of the target, which has an area greater than a projected area of the object, as the recommendation region, and 
 wherein the recommending further comprises zooming-in, which enables the touch screen to zoom-in and display the recommendation region when the recommendation region has the area greater than the projected area. 
 
     
     
       11. The control method of  claim 10 , wherein in the displaying of the object, when a plurality of objects, which overlap each other, are photographed by the vision sensor, the touch screen displays an image in which the plurality of objects are spaced apart from each other. 
     
     
       12. The control method of  claim 10 , wherein in the displaying of the target, when a plurality of targets, which overlap each other, are photographed by the vision sensor, the touch screen displays an image in which the plurality of targets are spaced apart from each other. 
     
     
       13. The control method of  claim 10 , wherein in the recommending, the touch screen displays a non-recommendation region of the target in a different manner from the recommendation region. 
     
     
       14. The control method of  claim 10 , wherein in the recommending, the touch screen displays a region of the target, which has an inclination less than a set inclination, as the recommendation region. 
     
     
       15. The control method of  claim 10 , wherein in the recommending, the touch screen displays a region of the target, which has a friction coefficient greater than a set friction coefficient, as the recommendation region. 
     
     
       16. The control method of  claim 10 , wherein in the operating of the robot, the controller generates a path of the robot in consideration of a position of the object and a position of the target, and then transmits an operation signal on the basis of the path of the robot.